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Optimal Robot Recharging Strategies For Time Discounted Labour

机译：限时人工的最佳机器人充电策略

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摘要

Energy is defined as the potential to perform work: every system that does some work must possess the required energy in advance. An interesting class of systems, including animals and recharging robots, has to actively choose when to obtain energy and when to dissipate energy in work. If working and collecting energy are mutually exclusive, as is common in many animal and robot scenarios, the system faces an essential two-phase action selection problem: (i) how much energy should be accumulated before starting work; (ii) at what remaining energy level should the agent switch back to feeding/recharging? This paper presents an abstract general model of a energy-managing agent that does time-discounted work. Analyzing the model, we find solutions to both questions that optimise's the value of the work done. This result is validated empirically by simulated robot experiments that agree closely with the model.
机译：能量被定义为执行工作的潜力：每个完成某些工作的系统必须事先拥有所需的能量。有趣的一类系统，包括动物和充电机器人，必须积极选择何时获取能量以及何时在工作中消散能量。如果工作和收集的能量是互斥的（在许多动物和机器人场景中很常见），则系统将面临一个基本的两阶段动作选择问题：（i）开始工作之前应积累多少能量； （ii）药剂应在什么剩余能量水平上切换回给料/给料？本文介绍了一种可进行时间打折工作的能源管理代理的抽象通用模型。通过分析模型，我们找到了两个问题的解决方案，这些问题都优化了所完成工作的价值。该结果通过与模型非常吻合的模拟机器人实验进行了实验验证。

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